Development of open-source data analysis toolbox for underwater vehicles

  • Description: Combine existing Python and Matlab functions into a user-friendly toolbox for processing data from underwater vehicles. Create a visualization environment, data export tools, and analysis options. Link the toolkits to the online databases to enable real-time processing.
  • Skills: Software: Matlab, Python, C, PHP, 3D Simulation
  • No. of Students: 1 - 2
  • Level: 4th year, Master's

Control and Applications for multiple rolling robots

  • Description: The Sphero is a new consumer-available robot that is controlled with a smart phone. The robot is a polycarbonate sphere that rolls through its environment. This project is interested in the development of multi-agent control algorithms for coordination and other applications.
  • Skills: Software: Matlab, Python, Embedded Systems, Android or iOS development
  • No. of Students: 1 - 2
  • Level: 4th year, Master's

Autonomous Underwater LEGO Vehicle, design and control development

  • Description: Develop and construct the necessary hardware for safe, autonomous operation of a LEGO MindStorms robot underwater. Create a smartphone application to interface with the vehicle for remote and autonomous control that is based on the NXT software package.
  • Skills: Basic hydrodynamics with some software and electronics experience
  • No. of Students: 1
  • Level: 4th year, Master's

Extend existing 2-D path planning algorithms(s) to a 3-D planner

  • Description: Extend existing results of 2-D path planning algorithms to a 3-D counterpart. Develop a simulation environment to test the extensions, and test the extensions using real-world datasets, and potentially field robots.
  • Skills: Software: Matlab, C; Mathematics: Linear Algebra, Basic Calculus
  • No. of Students: 1 - 2
  • Level: Master's, PhD

Develop a regression model for predicting the motion of autonomous surface vehicles

  • Description: Analyse data gathered from multiple deployments and develop a predictive model for the vehicle speed given a set of known input parameters.
  • Skills: Software: MatLab, C++; Mathematics: Linear Algebra, Calculus, Statistics
  • No. of Students: 1
  • Level: 4th year, Master's

Next Best View

  • Description: Given a set of observations from a mobile sensor platform, develop the algorithms necessary to determine the "next best view" of the scene to provide maximal information gain while accounting for the kinematic constraints of the vehicle.
  • Skills: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
  • No. of Students: 1 - 2
  • Level: Master's, PhD

Large-Scale mosaics of 3-D image-based reconstructions

  • Description: Image-based reconstruction is at the nexus of computer vision and environmental monitoring. This project will develop the tools necessary to create large-scale, 3-D reconstructions from multi-camera imagery in a time efficient method.
  • Skills: Software: MatLab, C++, GPU; Mathematics: Linear Algebra, Graph Theory, Calculus
  • No. of Students: 1 - 2
  • Level: Master's, PhD

Develop Coverage Algorithms for Aquatic Vehicles

  • Description: Consider multiple approaches to solving the coverage problem for large-scale aquatic monitoring using a heterogeneous fleet of aquatic robots. Develop a method and design a controller to be implemented on autonomous vehicles.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
  • No. of Students: 1 - 2
  • Level: Master's, PhD

ROS Development for AUVs

  • Description: Develop new ROS nodes and extend the functionality of ROS for autonomous underwater vehicles.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus
  • No. of Students: 1 - 2
  • Level: 4th year, Master's, PhD

Path Planning based on 3D Reconstructions

  • Description: Develop tools to plan optimal paths for AUVs to collect image data for 3D reconstructions of aquatic environments.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory, Gaussian Processes
  • No. of Students: 1
  • Level: Master's, PhD

Low-Level Controller Design

  • Description: Develop a novel, low-level controller for a torpedo-shaped AUV to perform basic operations at sea.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Control Theory
  • No. of Students: 1
  • Level: 4th year, Master's, PhD

Adaptive Sampling for Environmental Monitoring

  • Description: Develop tools for conducting adaptive and reactive sampling missions for specific applications in aquatic environmental monitoring applications.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
  • No. of Students: 1 - 2
  • Level: 4th year, Master's, PhD

Persistent Monitoring Applications and Algorithms

  • Description: Consider applications for long-term persistent monitoring of aquatic ecosystems and develop algorithms that will control vehicles for long periods of time in a dynamic and uncertain environment. 
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
  • No. of Students: 1 -2 
  • Level: Master's, PhD

Decision Support System (DSS)

  • Description: Develop a user-interface for human-in-the-loop control of deployed assets for the application of large-scale aquatic monitoring.
  • Skills: Software: Software: MatLab, C++, Java, Database Management; Mathematics: Linear Algebra, Calculus, Statistics
  • No. of Students: 1
  • Level: 4th year, Master's

Geometric Control and Path Planning

  • Description: Extend current results in Geometric Control Theory for implementation onto AUVs for applications in path planning for aquatic monitoring or 3D reconstruction.
  • Skills: Software: Software: MatLab, C++; Mathematics: Linear Algebra, Calculus, Graph Theory, Differential Geometry, Control Theory
  • No. of Students: 1
  • Level: Master's, PhD

Probabilistic Path Planning

  • Description: Develop tools to consider path planning from a probabilistic point-of-view. Applications are open-ended, however path planning related to aquatic vehicles is strongly encouraged
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
  • No. of Students: 1 - 2
  • Level: Master's, PhD

Pose Estimation and Localisation for Aquatic Vehicles

  • Description: Given the constraints of operating underwater or in GPS-denied environments, develop tools to extend the state-of-the-art in pose estimation and localisation for aquatic robots.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus, Graph Theory
  • No. of Students: 1 - 2
  • Level: 4th year, Master's, PhD

Novel Aquatic Vehicle Development and Demonstration

  • Description: Design, fabricate, test and demonstrate a novel vehicle for use in marine applications.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus; Basic hydrodynamics 
  • No. of Students: 1 - 2
  • Level: 4th year, Master's, PhD

Hardware Upgrade to Existing Robotic Platforms

  • Description: Integrate, troubleshoot and bench-test new sensors and hardware for existing robotic platforms.
  • Skills: Software: Software: MatLab, C++, ROS; Mathematics: Linear Algebra, Calculus; Hands-on experience with robotics is a must
  • No. of Students: 1 - 2
  • Level: 4th year, Master's